{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:52:40Z","timestamp":1777715560151,"version":"3.51.4"},"reference-count":40,"publisher":"SAGE Publications","issue":"13-14","license":[{"start":{"date-parts":[[2017,12,1]],"date-time":"2017-12-01T00:00:00Z","timestamp":1512086400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,12]]},"abstract":"<jats:p>Inverse optimal control (IOC) assumes that demonstrations are the solution to an optimal control problem with unknown underlying costs, and extracts parameters of these underlying costs. We propose the framework of inverse Karush\u2013Kuhn\u2013Tucker (KKT), which assumes that the demonstrations fulfill the KKT conditions of an unknown underlying constrained optimization problem, and extracts parameters of this underlying problem. Using this we can exploit the latter to extract the relevant task spaces and parameters of a cost function for skills that involve contacts. For a typical linear parameterization of cost functions this reduces to a quadratic program, ensuring guaranteed and very efficient convergence, but we can deal also with arbitrary non-linear parameterizations of cost functions. We also present a non-parametric variant of inverse KKT that represents the cost function as a functional in reproducing kernel Hilbert spaces. The aim of our approach is to push learning from demonstration to more complex manipulation scenarios that include the interaction with objects and therefore the realization of contacts\/constraints within the motion. We demonstrate the approach on manipulation tasks such as sliding a box, closing a drawer and opening a door.<\/jats:p>","DOI":"10.1177\/0278364917745980","type":"journal-article","created":{"date-parts":[[2017,12,6]],"date-time":"2017-12-06T01:19:20Z","timestamp":1512523160000},"page":"1474-1488","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":73,"title":["Inverse KKT: Learning cost functions of manipulation tasks from demonstrations"],"prefix":"10.1177","volume":"36","author":[{"given":"Peter","family":"Englert","sequence":"first","affiliation":[{"name":"Machine Learning & Robotics Lab, Universit\u00e4t Stuttgart, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ngo Anh","family":"Vien","sequence":"additional","affiliation":[{"name":"School of EEECS, Queen\u2019s University Belfast, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marc","family":"Toussaint","sequence":"additional","affiliation":[{"name":"Machine Learning & Robotics Lab, Universit\u00e4t Stuttgart, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2017,12,5]]},"reference":[{"key":"bibr1-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910371999"},{"key":"bibr2-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430"},{"key":"bibr3-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids.2011.6100856"},{"key":"bibr4-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"bibr5-0278364917745980","first-page":"120","volume-title":"Proceedings of fourteenth international conference on artificial intelligence and statistics (AISTATS 2011)","author":"Boularias A","year":"2011"},{"key":"bibr6-0278364917745980","volume-title":"Learning In Modular Systems","author":"Bradley D","year":"2009"},{"key":"bibr7-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696414"},{"key":"bibr8-0278364917745980","volume-title":"Proceedings of the international joint conference on artificial intelligence","author":"Choi J","year":"2013"},{"key":"bibr9-0278364917745980","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.013"},{"key":"bibr10-0278364917745980","volume-title":"Proceedings of the international symposium of robotics research","author":"Englert P","year":"2015"},{"key":"bibr11-0278364917745980","volume-title":"Proceedings of the international conference on machine learning","author":"Finn C","year":"2016"},{"key":"bibr12-0278364917745980","first-page":"2211","volume":"12","author":"G\u00f6nen M","year":"2011","journal-title":"The Journal of Machine Learning Research"},{"key":"bibr13-0278364917745980","volume-title":"International conference on machine learning","author":"Grubb A","year":"2010"},{"key":"bibr14-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1162\/106365601750190398"},{"key":"bibr15-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9384-1"},{"key":"bibr16-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630743"},{"key":"bibr17-0278364917745980","author":"Kolter JZ","year":"2008","journal-title":"Neural information processing systems"},{"key":"bibr18-0278364917745980","volume-title":"Proceedings of the international conference on machine learning","author":"Levine S","year":"2012"},{"key":"bibr19-0278364917745980","volume-title":"Neural information processing systems","author":"Levine S","year":"2011"},{"key":"bibr20-0278364917745980","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.046"},{"key":"bibr21-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33486-3_10"},{"key":"bibr22-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9170-7"},{"key":"bibr23-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5353894"},{"key":"bibr24-0278364917745980","volume-title":"Proceedings of the international conference on machine learning","author":"Ng AY","year":"2000"},{"key":"bibr25-0278364917745980","volume-title":"Numerical Optimization","volume":"2","author":"Nocedal J","year":"2006"},{"key":"bibr26-0278364917745980","volume-title":"Neural information processing systems","author":"Paraschos A","year":"2013"},{"key":"bibr27-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980200"},{"key":"bibr28-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225317"},{"key":"bibr29-0278364917745980","first-page":"2586","volume-title":"Proceedings of the 20th international joint conference on artificial intelligence (IJCAI 2007)","author":"Ramachandran D","year":"2007"},{"key":"bibr30-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1145\/1143844.1143936"},{"key":"bibr31-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9121-3"},{"key":"bibr32-0278364917745980","doi-asserted-by":"publisher","DOI":"10.3389\/fncom.2012.00097"},{"key":"bibr33-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2002.1258"},{"key":"bibr34-0278364917745980","volume-title":"Learning with Kernels: Support vector machines, regularization, optimization, and beyond","author":"Sch\u00f6lkopf B","year":"2002"},{"key":"bibr35-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2013.7030008"},{"key":"bibr36-0278364917745980","first-page":"3137","volume":"11","author":"Theodorou E","year":"2010","journal-title":"Journal of Machine Learning Research"},{"key":"bibr37-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51547-2_15"},{"key":"bibr38-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942539"},{"key":"bibr39-0278364917745980","doi-asserted-by":"publisher","DOI":"10.1108\/17563781211255862"},{"key":"bibr40-0278364917745980","volume-title":"Proceedings of the AAAI conference on Artificial intelligence","author":"Ziebart BD","year":"2008"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364917745980","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364917745980","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364917745980","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:29Z","timestamp":1777457729000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364917745980"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12]]},"references-count":40,"journal-issue":{"issue":"13-14","published-print":{"date-parts":[[2017,12]]}},"alternative-id":["10.1177\/0278364917745980"],"URL":"https:\/\/doi.org\/10.1177\/0278364917745980","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,12]]}}}